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1. 发明公开

US20240315791A1 Isolation Mechanism For Force/Torque Sensor 审中-公开
公开(公告)号：US20240315791A1
公开(公告)日：2024-09-26
申请号：US18734569
申请日：2024-06-05
申请人： MAKO Surgical Corp.
发明人： Victor Soto , David Gene Bowling , Ezra Johnson , Nicholas Joseph LaBarbera
IPC分类号： A61B34/37 , A61B90/00
CPC分类号： A61B34/37 , A61B2090/066 , A61B2560/0266
摘要： An isolation mechanism that is configured for a robotic manipulator is provided. The robotic manipulator includes an arm to be driven by a transmission, a force/torque sensor, and one or more sensing elements configured to sense forces and torques applied to the force/torque sensor, wherein the isolation mechanism includes a body for coupling to an output of the transmission and for coupling to the force/torque sensor, wherein the body deforms in response to forces induced by the transmission to mechanically isolate the force/torque sensor from forces induced by the transmission.

2. 发明公开

US20240299098A1 VIEW ANGLE-INDEPENDENT VISUAL REPRESENTATION OF A CUT PROCEDURE 审中-公开
公开(公告)号：US20240299098A1
公开(公告)日：2024-09-12
申请号：US18668513
申请日：2024-05-20
申请人： MAKO Surgical Corp.
发明人： Kristóf Ralovich , Oliver Kutter , Milán Ikits
IPC分类号： A61B34/10 , A61B17/16 , A61B17/34 , A61B34/00 , A61B34/20 , A61B34/30 , A61B34/32 , G06T17/10 , G06T19/00 , G06T19/20 , G16H50/50
CPC分类号： A61B34/10 , A61B17/16 , A61B17/34 , A61B34/20 , A61B34/30 , A61B34/32 , A61B34/70 , G06T17/10 , G06T19/00 , G06T19/20 , G16H50/50 , A61B2034/104 , A61B2034/105 , A61B2034/108 , A61B2034/2055 , G06T2210/41 , G06T2219/008 , G06T2219/2021
摘要： A method of computer visualization of removal of material from an object by a tool during a procedure includes tracking poses of the tool as the tool removes material from the object, performing a constructive solid geometry (CSG) operation using a model of the object, a plan for the removal of the material from the object, and an accumulation of the tracked poses of the tool, generating a two dimensional image of the object based on a result of the CSG operation, and handling movement of the tool by updating the two dimensional image via an update of only a changed sub-volume of the accumulation of the tracked poses.

3. 发明授权

US12082895B2 Robotic surgical system with a mounting assembly for attaching an end effector to a robotic arm 有权
公开(公告)号：US12082895B2
公开(公告)日：2024-09-10
申请号：US18372721
申请日：2023-09-26
申请人： MAKO Surgical Corp.
发明人： James E. Flatt , Robert Dodde , Jonathan Boyer , Larry Douglas O'Cull , Victor Soto
IPC分类号： A61B46/00 , A61B34/00 , A61B34/30 , A61B46/10 , A61B46/23 , A61B90/50 , B25J17/00 , A61B17/00
CPC分类号： A61B34/30 , A61B34/70 , A61B46/00 , A61B46/10 , A61B46/23 , A61B90/50 , B25J17/00 , A61B2017/00477 , A61B2560/04
摘要： A robotic surgical system includes a robotic arm comprising a plurality of links and joints, an end effector, and a mounting assembly for coupling the end effector and the robotic arm. The mounting assembly includes a robot mount associated with the robotic arm and an end effector mount associated with the end effector. The mounting assembly also includes a sterile barrier assembly including a coupling and kinematic couplers. A first lock assembly releasably secures the coupling to the robot mount and a second lock assembly releasably secures the end effector mount to the coupling. A tensioner associated with either mount is movable between a first position and a second position such that the kinematic couplers engage with, and provide a kinematic coupling between, the mounts through the sterile barrier assembly to constrain six degrees of freedom of movement between the mounts.

4. 发明公开

US20240268904A1 Robotic Surgical Systems And Methods For Mitigating Skiving Between Rotary Cutting Tool and Cortical Bone 审中-公开
公开(公告)号：US20240268904A1
公开(公告)日：2024-08-15
申请号：US18616252
申请日：2024-03-26
申请人： MAKO Surgical Corp.
发明人： Jamil Elbanna , Michael Prieto , Vijay Subramanian , Jienan Ding
IPC分类号： A61B34/30 , A61B17/16 , A61B17/17 , A61B34/00 , A61B34/10 , A61B34/20 , A61B90/00
CPC分类号： A61B34/30 , A61B17/1615 , A61B17/1626 , A61B17/1757 , A61B34/25 , A61B2034/107 , A61B2034/2055 , A61B2034/306 , A61B2090/062 , A61B2090/066
摘要： Surgical systems and methods involve manipulation of a bone. A robotic manipulator supports and moves a surgical tool that has a cutting bur rotatable about a cutting axis. Controller(s) control the manipulator to align the cutting axis to a target axis associated with the bone and advance the cutting bur along the target axis towards a cortical region of the bone. The controller(s) control the surgical tool to rotate the cutting bur about the cutting axis and contact the cortical region. The controller(s) detect, from sensor(s), forces applied to the cutting bur by the cortical region and compare the sensed forces to a threshold indicative of skiving of the cutting bur relative the cortical region. In response to the sensed forces exceeding the threshold, the controller(s) adjust control of the manipulator and/or surgical tool to reduce forces applied to the cutting bur by the cortical region.

5. 发明公开

US20240268892A1 Virtual Reality Surgical Systems And Methods Including Virtual Navigation 审中-公开
公开(公告)号：US20240268892A1
公开(公告)日：2024-08-15
申请号：US18440100
申请日：2024-02-13
申请人： MAKO Surgical Corp.
发明人： Jared Leichner
IPC分类号： A61B34/10 , G06F3/01 , G06T15/10 , G06T19/00 , G09B23/28 , G16H20/40
CPC分类号： A61B34/10 , G06F3/016 , G06T15/10 , G06T19/003 , G09B9/00 , G09B23/28 , G16H20/40 , A61B2034/104 , A61B2034/105 , A61B2034/107 , G06T2210/41
摘要： Virtual reality surgical systems, methods, and software for simulating surgical navigation. A head-mounted device includes a display positionable in front of eyes of a user. The display of the head-mounted device presents a virtual environment including therein a virtual surgical object, a virtual display device, and a virtual navigation system including a virtual localizer unit. A spatial relationship between the virtual localizer unit and the virtual surgical object is determined and a virtual representation of the virtual surgical object is presented on the virtual display device. A pose of the virtual representation is based on the determined spatial relationship between the virtual localizer unit and the virtual surgical object.

6. 发明授权

US12035985B2 Robotic spine surgery system and methods 有权
公开(公告)号：US12035985B2
公开(公告)日：2024-07-16
申请号：US18195966
申请日：2023-05-11
申请人： MAKO Surgical Corp.
发明人： Hyosig Kang
IPC分类号： A61B34/30 , A61B17/16 , A61B34/00 , A61B34/20 , A61B34/32 , A61B17/17 , A61B17/70 , A61B34/10 , A61B90/00 , A61B90/98
CPC分类号： A61B34/30 , A61B17/1671 , A61B34/20 , A61B34/32 , A61B34/71 , A61B34/76 , A61B17/16 , A61B17/1757 , A61B17/7076 , A61B17/7082 , A61B2034/102 , A61B2034/105 , A61B2034/107 , A61B2034/2051 , A61B2034/2055 , A61B2090/031 , A61B2090/378 , A61B2090/3983 , A61B90/98
摘要： Robotic spinal surgery systems and methods include a robotic manipulator with a tool guide and a skin incision tool to be inserted into the tool guide. A navigation system includes a localizer for tracking the patient and a base tracker of the robotic manipulator. A control system registers, with the navigation system, a line haptic object to a vertebra of the patient, the line haptic object being associated with a desired trajectory for the vertebra. In response to a user input, the control system autonomously moves the robotic manipulator to align the tool guide to the desired trajectory. The tool guide is constrained to the desired trajectory with the line haptic object to enable insertion of the skin incision tool within the tool guide to facilitate creation of the incision in the skin at the desired trajectory.

7. 发明授权

US12016638B2 View angle-independent visual representation of a cut procedure 有权
公开(公告)号：US12016638B2
公开(公告)日：2024-06-25
申请号：US18112762
申请日：2023-02-22
申请人： MAKO Surgical Corp.
发明人： Kristóf Ralovich , Oliver Kutter , Milán Ikits
IPC分类号： G06K9/00 , A61B17/16 , A61B17/34 , A61B34/00 , A61B34/10 , A61B34/20 , A61B34/30 , A61B34/32 , G06T17/10 , G06T19/00 , G06T19/20 , G16H50/50
CPC分类号： A61B34/10 , A61B17/16 , A61B17/34 , A61B34/20 , A61B34/30 , A61B34/32 , A61B34/70 , G06T17/10 , G06T19/00 , G06T19/20 , G16H50/50 , A61B2034/104 , A61B2034/105 , A61B2034/108 , A61B2034/2055 , G06T2210/41 , G06T2219/008 , G06T2219/2021
摘要： A method for providing surgical navigation includes tracking poses of a surgical tool as the surgical tool modifies a bone and performing a constructive solid geometry (CSG) operation using a model of the bone and an accumulation of the tracked poses of the surgical tool. An intersection of the accumulation of the tracked poses with the model of the bone corresponds to a modification of the bone by the surgical tool. The method also includes displaying an image based on a result of the CSG operation.

8. 发明公开

US20240188966A1 SYSTEMS AND METHODS FOR PREPARING A PROXIMAL TIBIA 审中-公开
公开(公告)号：US20240188966A1
公开(公告)日：2024-06-13
申请号：US18584093
申请日：2024-02-22
申请人： MAKO Surgical Corp.
发明人： Mark Nadzadi , Ali Abbasi , Amit Mistry , Jason Otto
IPC分类号： A61B17/15 , A61B17/16 , A61B17/17 , A61B34/30 , A61F2/46 , A61F2/68
CPC分类号： A61B17/157 , A61B17/1675 , A61B17/1764 , A61B34/30 , A61F2/461 , A61F2002/6827
摘要： A method of preparing a bone to receive an implant component includes planning one or more surgical cuts configured to provide the bone with a curved intersection between two surfaces, applying a mechanical restraint to an arm holding a cutting tool based on the one or more surgical cuts, and performing, subject to the mechanical restraint and by articulating the arm, the one or more surgical cuts using the cutting tool.

9. 外观设计

USD1029861S1 Display screen or portion thereof with graphical user interface 有权
公开(公告)号：USD1029861S1
公开(公告)日：2024-06-04
申请号：US29834489
申请日：2022-04-12
申请人： MAKO Surgical Corp.
设计人： Carinne Granchi , Jason Otto , Thomas M. Coon , Michael Ballash , Tamas Erdos
摘要： FIG. 1 is a front view of a first embodiment of the claimed design of a display screen or portion thereof with a graphical user interface;
FIG. 2 is a front view of a second embodiment of the claimed design of a display screen or portion thereof with a graphical user interface;
FIG. 3 is a front view of a third embodiment of the claimed design of a display screen or portion thereof with a graphical user interface;
FIG. 4 is a front view of a fourth embodiment of the claimed design of a display screen or portion thereof with a graphical user interface;
FIG. 5 is a front view of a fifth embodiment of the claimed design of a display screen or portion thereof with a graphical user interface;
FIG. 6 is a front view of a sixth embodiment of the claimed design of a display screen or portion thereof with a graphical user interface; and,
FIG. 7 is a front view of a sixth embodiment of the claimed design of a display screen or portion thereof with a graphical user interface.
FIGS. 1-7 are being submitted in traditional black and white line drawings.
The outermost broken lines in the Figures illustrate a display screen or portion thereof and form no part of the claimed design. The other broken lines in the Figures illustrate portions of the graphical user interface that form no part of the claimed design.

10. 发明授权

US12003869B2 Systems and methods for tracking objects 有权
公开(公告)号：US12003869B2
公开(公告)日：2024-06-04
申请号：US18213360
申请日：2023-06-23
申请人： MAKO Surgical Corp.
发明人： Jochen Breisacher , David Hofmann , Emeric Umbdenstock , Jonathan Morgan , Paul Hoekstra
IPC分类号： H04N25/44 , A61B34/20 , H04N23/60 , H04N23/61 , H04N25/40 , H04N25/443 , A61B34/00 , H04N23/695 , H04N25/42
CPC分类号： H04N25/44 , A61B34/20 , H04N23/60 , H04N23/61 , H04N25/40 , H04N25/443 , A61B2034/2046 , A61B2034/2055 , A61B2034/2057 , A61B2034/2065 , A61B34/70 , H04N23/695 , H04N25/42
摘要： Systems and methods to track an object within an operating room with a camera unit. The camera unit includes a first optical sensor with sensing elements to sense light in a near-infrared spectrum and a second optical sensor to sense light in a visible light spectrum. A controller is in communication with the first and second optical sensors. The controller obtains, from the second optical sensor, data related to the object within the operating room. The controller modifies control of the sensing elements of the first optical sensor based on the data of the object obtained by the second optical sensor.

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